下半身制御用ライブラリ Odometry...自己位置推定 Mecanum...メカナムホイール用 Bezier...ベジエ曲線 RoboClaw...MD用
Dependents: TOUTEKI_all_mbed mbed_test_program
Mecanum.h@3:9c3f2662974e, 2018-09-04 (annotated)
- Committer:
- yuki17100
- Date:
- Tue Sep 04 14:22:13 2018 +0000
- Revision:
- 3:9c3f2662974e
- Parent:
- 0:62707e16531a
Mecanum????????
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
yuki17100 | 0:62707e16531a | 1 | #ifndef MECANUM_H |
yuki17100 | 0:62707e16531a | 2 | #define MECANUM_H |
yuki17100 | 0:62707e16531a | 3 | |
yuki17100 | 0:62707e16531a | 4 | #include "mbed.h" |
yuki17100 | 0:62707e16531a | 5 | #include "RoboClaw.h" |
yuki17100 | 0:62707e16531a | 6 | |
yuki17100 | 0:62707e16531a | 7 | #define ADR_MD1 128 |
yuki17100 | 0:62707e16531a | 8 | #define ADR_MD2 129 |
yuki17100 | 0:62707e16531a | 9 | |
yuki17100 | 0:62707e16531a | 10 | #define PIN_MD p13 |
yuki17100 | 0:62707e16531a | 11 | |
yuki17100 | 3:9c3f2662974e | 12 | #define CMD (10000/1000) |
yuki17100 | 0:62707e16531a | 13 | |
yuki17100 | 0:62707e16531a | 14 | class Mecanum{ |
yuki17100 | 0:62707e16531a | 15 | public: |
yuki17100 | 0:62707e16531a | 16 | Mecanum(); |
yuki17100 | 0:62707e16531a | 17 | |
yuki17100 | 0:62707e16531a | 18 | void move(double direction, double speed, double revolution); |
yuki17100 | 3:9c3f2662974e | 19 | void rectang(double x, double y, double rotation); |
yuki17100 | 0:62707e16531a | 20 | |
yuki17100 | 0:62707e16531a | 21 | RoboClaw MD; |
yuki17100 | 0:62707e16531a | 22 | |
yuki17100 | 0:62707e16531a | 23 | private: |
yuki17100 | 0:62707e16531a | 24 | |
yuki17100 | 3:9c3f2662974e | 25 | void command(double (&duty)[4]); |
yuki17100 | 3:9c3f2662974e | 26 | |
yuki17100 | 0:62707e16531a | 27 | }; |
yuki17100 | 0:62707e16531a | 28 | |
yuki17100 | 0:62707e16531a | 29 | #endif |